CN206311976U - An a kind of key of solar panel cleaning device is taken down the exhibits arm system - Google Patents

Abstract

Taken down the exhibits arm system the utility model discloses an a kind of key of solar panel cleaning device, including control device, processor, performs device and installation data acquisition device on the robotic arm, the control device and data acquisition device are electrically connected with the signal input part of processor, and the signal output part of processor is electrically connected with performs device；The mechanical arm includes upright arm, horizontal arm, brush holder lifting push rod and cleaning brush holder, the control device includes guidance panel and display, two function keys are provided with the guidance panel, one button is " key receives arm ", another key is three keys, it is " left exhibition arm " to be dialled on three keys, and it is " right exhibition arm " to set aside, and centre is zero-bit；The utility model is improved by traditional solar energy cleaning device, enable that solar energy cleaning device is accurately positioned, so as to more quickly be cleaned to solar panels, so as to improve the light energy conversion efficiency of solar panel, therefore the activity duration is reduced, increased operating efficiency.

Description

An a kind of key of solar panel cleaning device is taken down the exhibits arm system

Technical field

The utility model is related to the control system field of solar panel cleaning device, and in particular to a kind of solar-electricity One key of pond plate cleaning device is taken down the exhibits arm system.

Background technology

Solar energy power generating factory is the clean energy resource form of current spread, and its cell panel needs often to remove table Face floating dust can effectively generate electricity.Conventional solar panel wash equipment mainly has vehicle formula and rail mounted to equip at present Two classes, rail mounted equipment is high to place construction requirements, therefore cost is also high, is unfavorable for promoting, and vehicle formula equipment is often used The mode of mechanical arm is cleaned, and the operation of mechanical arm operation generally requires to consume workman's substantial amounts of time, causes cleaning to be imitated Rate is low, it is therefore necessary to which the steerable system to mechanical arm is improved.

Utility model content

The purpose of this utility model is, there is provided a kind of operating system of mechanical arm convenient quickly positioning so that cleaning dress Put the top that can be fast and accurately positioned at solar panel.

In order to solve the above-mentioned technical problem, the utility model uses following technical scheme：A kind of solar panel cleaning One key of device is taken down the exhibits arm system, including control device, processor, performs device and installs data acquisition on the robotic arm Device, the control device and data acquisition device are electrically connected with the signal input part of processor, and the signal of processor is defeated Go out end to be electrically connected with performs device；

The mechanical arm includes rotatable and telescopic upright arm, telescopic horizontal arm, the lifting of telescopic brush holder Push rod and cleaning brush holder, the upright arm are made up of two vertical tubes being mutually socketed, and the flexible of upright arm is come by telescopic oil cylinder Drive, the lower end of upright arm is rotatably disposed in the frame of cleaning device, and the rotation of upright arm is driven by hydraulic rotation motor Dynamic, the upright arm limits the angle of its rotation by turntable stopping means, and the horizontal arm is by the more piece that is socketed by track Horizontal arm support is constituted, and the flexible of horizontal arm is driven by telescopic oil cylinder, and the horizontal arm is hinged on the top of upright arm, and leads to The elevation angle size of amplitude oil cylinder adjustable horizontal arm is crossed, the brush holder lifting push rod is made up of two lifting arms being mutually socketed, And flexible the driving by motor of brush holder lifting push rod, it is fixed between the upper end and the termination of horizontal arm of the brush holder lifting push rod to connect Connect, the cleaning brush holder is hinged on the lower end that brush holder lifts push rod, and lifts push rod by brush holder luffing push rod adjustable brush rack With the angle of cleaning brush holder；

The control device includes guidance panel and display, and teaching button, one are provided with the guidance panel Individual arm support rocking bar and two function keys, one of function button are " key receive arm ", and another function button is three keys, institute State and dialled as " left exhibition arm " on three keys, it is " right exhibition arm " to set aside, centre is zero-bit, the arm support rocking bar can be used to regulation manually Mechanical arm；The guidance panel and display are installed in control room, and the guidance panel and display are electrically connected；

The data acquisition device includes linear transducer one, linear transducer two, linear transducer three, linear transducer Four and linear transducer five, the linear transducer one is arranged on the bottom of upright arm, the extension elongation for monitoring upright arm State, the linear transducer two is arranged on the bottom of amplitude oil cylinder, the extension elongation state for monitoring amplitude oil cylinder, described Linear transducer three is arranged on the front end of horizontal arm side, for the extension elongation state of level monitoring arm, the length sensing Device four is arranged on the top that brush holder lifts push rod, and the extension elongation state of push rod, the length sensing are lifted for monitoring brush holder Device five is arranged on the bottom of brush holder luffing push rod, the extension elongation state for monitoring brush holder luffing push rod；

The processor includes the input circuit being sequentially connected, Programmable Logic Controller and output circuit；

The performs device includes the processor of control brush holder lifting push rod and brush holder luffing push rod, also vertical including control The banked direction control valves of arm telescopic oil cylinder, hydraulic rotation motor, amplitude oil cylinder and horizontal arm telescopic oil cylinder；

Beneficial effect

The key that the utility model is provided takes down the exhibits arm system and method can strengthen the behaviour of solar energy photovoltaic panel cleaning equipment Control convenience, and enable to cleaning device to be accurately positioned so as to more quickly be cleaned to solar panels, from And the light energy conversion efficiency of solar panel is improved, therefore the activity duration is reduced, operating efficiency is increased, and can carry The quality of height cleaning.

Brief description of the drawings

Fig. 1 is that the key of the utility model one is taken down the exhibits the structural representation of arm system；

Fig. 2 is that the key of the utility model one is taken down the exhibits the system architecture principle flow chart of arm system；

Fig. 3 be the key of the utility model one take down the exhibits arm system a key exhibition arm program flow diagram；

Fig. 4 be the key of the utility model one take down the exhibits arm system a key receive arm program flow diagram.

In figure：1st, upright arm, 2, horizontal arm, 3, brush holder lifting push rod, 4, cleaning brush holder, 5, amplitude oil cylinder, 6 brush holders become Width push rod 7, guidance panel, 8, track, 9, linear transducer one, 10, linear transducer two, 11, linear transducer three, 12, long Degree sensor four, 13, linear transducer five.

Specific embodiment

Below in conjunction with the accompanying drawings to specific embodiment further detailed description of the present utility model.

The arm system as illustrated, an a kind of key of solar panel cleaning device is taken down the exhibits, it is characterised in that：Including control Device, processor, performs device and installation data acquisition device on the robotic arm, the control device and data acquisition Device is electrically connected with the signal input part of processor, and the signal output part of processor is electrically connected with performs device；

The mechanical arm includes rotatable and telescopic upright arm 1, telescopic horizontal arm 2, telescopic brush holder liter Drop push rod 3 and cleaning brush holder 4, the upright arm 1 is made up of two vertical tubes being mutually socketed, and upright arm 1 is flexible by stretching Oil cylinder is driven, and the lower end of upright arm 1 is rotatably disposed in the frame of cleaning device, and upright arm 1 rotation by hydraulic rotation Dynamic motor drives, and the upright arm 1 limits its angle for rotating by turntable stopping means, and the horizontal arm 2 is by by track 8 The more piece horizontal arm support of socket is constituted, and the flexible of horizontal arm 2 is driven by telescopic oil cylinder, and the horizontal arm 2 is hinged on vertically The top of arm 1, and by the elevation angle size of the adjustable horizontal arm 2 of amplitude oil cylinder 5, the brush holder lifts push rod 3 by being mutually socketed Two lifting arms composition, and brush holder lifting push rod 3 flexible driving by motor, the upper end of the brush holder lifting push rod 3 and water It is fixedly connected between the termination of flat arm 2, the cleaning brush holder 4 is hinged on the lower end that brush holder lifts push rod 3, and by brush holder luffing The adjustable brush rack of push rod 6 lifts the angle of push rod 3 and cleaning brush holder 4；

The control device include guidance panel 7 and display, be provided with the guidance panel 7 a teaching button, One arm support rocking bar and two function keys, one of function button are " key receive arm ", and another function button is three keys, It is " left exhibition arm " to be dialled on three keys, and it is " right exhibition arm " to set aside, and centre is zero-bit, and the arm support rocking bar can be used to tune manually Section mechanical arm；The guidance panel 7 and display are installed in control room, and the guidance panel 7 and display are electrically connected；

The data acquisition device includes linear transducer 1, linear transducer 2 10, linear transducer 3 11, length Sensor 4 12 and linear transducer 5 13, the linear transducer 1 are arranged on the bottom of upright arm 1, vertical for monitoring The extension elongation state of arm 1, the linear transducer 2 10 is arranged on the bottom of amplitude oil cylinder 5, for monitoring amplitude oil cylinder 5 Extension elongation state, the linear transducer 3 11 is arranged on the front end of the side of horizontal arm 2, for stretching out for level monitoring arm 2 Length condition, the linear transducer 4 12 is arranged on the top that brush holder lifts push rod 3, for monitoring brush holder lifting push rod 3 Extension elongation state, the linear transducer 5 13 is arranged on the bottom of brush holder luffing push rod 6, for monitoring brush holder luffing push rod 6 extension elongation state；

The processor includes the input circuit being sequentially connected, Programmable Logic Controller and output circuit；

The performs device includes the processor of control brush holder lifting push rod 3 and brush holder luffing push rod 6, is also hung down including control The banked direction control valves of the telescopic oil cylinder of straight-arm 1, hydraulic rotation motor, amplitude oil cylinder 5 and the telescopic oil cylinder of horizontal arm 2；

An a kind of a kind of key for solar panel cleaning device based on described in claim 1 is taken down the exhibits arm system Method, including key exhibition arm, a key receive arm and teaching programming；

A, key exhibition arm

The working method of one key exhibition arm is divided into two kinds：It is left exhibition arm and right exhibition arm, respectively correspond to cleaning brush holder 4 left limit and Right limit, the original state of mechanical arm is that a key receives the state stopped after arm, is spacing during cleaning brush holder 4 is located at；Operator Can be performed according to the program of system default, it is also possible to carry out teaching programming；Left exhibition arm is therefrom spacing toward car from mechanical arm The action composition that left limit launches, the original state of mechanical arm is that a key receives the state stopped after arm, when operator will control When exhibition arm switch on device pushes left exhibition arm upwards, control device performs default program, i.e. horizontal arm 2 and forward extends out, and works as control When device detection level distance processed reaches preset value 1000mm, horizontal arm 2 is turned round clockwise, when left limit is turned back to, Revolution stop, at the same time upright arm 1 is protruded upward, until vertical length be more than 200mm, when control device detect it is vertically long Degree more than after 200mm, go forward to stretch out by horizontal arm 2, until when reaching artificial setpoint distance 1000mm, when control device detects water When flat length reaches setpoint distance 1000mm, the retracted downward of upright arm 1, until reach at artificial setpoint distance 100mm, it is now left Exhibition arm process terminates；

Right exhibition arm is that therefrom the spacing action launched toward vehicle right limit is constituted from arm support, and the original state of mechanical arm is One key receives the state stopped after arm, when operator by the exhibition arm switch on control device by pushing downwards right exhibition arm, control Device performs default program, i.e. horizontal arm 2 and forward extends out, when control device detection level distance is reached at 1000mm, level Arm 2 carries out turning anticlockwise, and when right limit is turned back to, revolution stops, and at the same time upright arm 1 is protruded upward, until vertically Length is more than 200mm, and after control device detects vertical length more than 200mm, horizontal arm 2 is forward extended out, until arriving intelligent Work setting position, after control device detects horizontal length reaches setpoint distance 1000mm, the retracted downward of upright arm 1, until Reach at artificial setpoint distance 1000mm, now right exhibition arm process terminates；

B, a key receive arm

One key receive arm be after vehicle completes cleaning by mechanical arm receive into it is spacing it is a kind of operate, operator can be with Program according to system default is performed, it is also possible to carry out teaching programming, when operator finishes this clean up task, machinery Arm generally stays at left limit or right limit, so default program action is divided into and receive arm from left side and receive two kinds of feelings of arm from right side Condition, both of which is that system judges automatically according to mechanical arm position；When program starts, cleaning brush holder 4 is first carried out Vertical motion, with the interference for preventing from acting other, after cleaning brush holder 4 rises in place, system is carried out to the vertical length of upright arm 1 Judge, if vertical length is more than 100mm, perform the down maneuver of upright arm 1, until vertical length is less than or equal to 100mm； Now program is to be located at vehicle left side or right side further according to mechanical arm, and then determines to perform the direction of revolution；Turned round During action, whether system detectio horizontal length is equal to 1000mm, if less than 1000mm, then performs the action that horizontal arm 2 is stretched, phase Instead, then the action of the contracting of horizontal arm 2 is performed, after turning round in place, the range sensor on horizontal arm issues instructions to control device, The signal of this timed unit output level arm 2 contracting, until horizontal length is less than or equal to 600mm, now receives arm support action knot Beam；

C, teaching programming

I.e. when the teaching button on operator's push panel 7, control device can store down it for the teaching programming The every position of the action done of section mechanical arm and stop afterwards, until when pressing teaching button again, stop storage, when operator again When performing receipts arm or exhibition arm, often saving mechanical arm can use the position of storage as setting position.

The utility model provide a key take down the exhibits arm system can strengthen solar energy photovoltaic panel cleaning equipment manipulation it is convenient Property, and enable to cleaning device to be accurately positioned so as to more quickly be cleaned to solar panels, so as to improve The light energy conversion efficiency of solar panel, therefore the activity duration is reduced, operating efficiency is increased, and cleaning can be improved Quality.

The above, is only preferred embodiment of the present utility model, not makees any formal to the utility model Limitation, although the utility model is disclosed above with preferred embodiment, but is not limited to the utility model, any ripe Professional and technical personnel is known, is not being departed from the range of technical solutions of the utility model, when in the technology using the disclosure above Appearance is made a little change or is modified to the Equivalent embodiments of equivalent variations, as long as being without departing from technical solutions of the utility model Hold, any simple modification, equivalent variations and the modification made to above example according to technical spirit of the present utility model, still Belong in the range of technical solutions of the utility model.

Claims (1)

1. an a kind of key of solar panel cleaning device is taken down the exhibits arm system, it is characterised in that：Including control device, treatment Device, performs device and data acquisition device on the robotic arm is installed, the control device and data acquisition device with The signal input part electrical connection of processor, the signal output part of processor is electrically connected with performs device；

The mechanical arm includes rotatable and telescopic upright arm（1）, telescopic horizontal arm（2）, telescopic brush holder liter Drop push rod（3）With cleaning brush holder（4）, the upright arm（1）It is made up of two vertical tubes being mutually socketed, and upright arm（1）Stretch Contracting is driven by telescopic oil cylinder, upright arm（1）Lower end be rotatably disposed in the frame of cleaning device, and upright arm（1）'s Rotation is driven by hydraulic rotation motor, the upright arm（1）Its angle for rotating, the level is limited by turntable stopping means Arm（2）By by track（8）The more piece horizontal arm support composition of socket, and horizontal arm（2）It is flexible driven by telescopic oil cylinder, institute State horizontal arm（2）It is hinged on upright arm（1）Top, and by amplitude oil cylinder（5）Adjustable horizontal arm（2）Elevation angle size, The brush holder lifts push rod（3）It is made up of two lifting arms being mutually socketed, and brush holder lifting push rod（3）Flexible driven by motor Dynamic, the brush holder lifts push rod（3）Upper end and horizontal arm（2）Termination between be fixedly connected, the cleaning brush holder（4）It is hinged Push rod is lifted in brush holder（3）Lower end, and by brush holder luffing push rod（6）Adjustable brush rack lifts push rod（3）With cleaning brush holder （4）Angle；

The control device includes guidance panel（7）And display, the guidance panel（7）On be provided with a teaching button, One arm support rocking bar and two function keys, one of function button are " key receive arm ", and another function button is three keys, It is " left exhibition arm " to be dialled on three keys, and it is " right exhibition arm " to set aside, and centre is zero-bit, and the arm support rocking bar can be used to tune manually Section mechanical arm；The guidance panel（7）Control room, the guidance panel are installed in display（7）Electrically connected with display；

The data acquisition device includes linear transducer one（9）, linear transducer two（10）, linear transducer three（11）, it is long Degree sensor four（12）With linear transducer five（13）, the linear transducer one（9）It is arranged on upright arm（1）Bottom, use In monitoring upright arm（1）Extension elongation state, the linear transducer two（10）It is arranged on amplitude oil cylinder（5）Bottom, use In monitoring amplitude oil cylinder（5）Extension elongation state, the linear transducer three（11）It is arranged on horizontal arm（2）Before side End, for level monitoring arm（2）Extension elongation state, the linear transducer four（12）It is arranged on brush holder lifting push rod（3） Top, for monitor brush holder lifting push rod（3）Extension elongation state, the linear transducer five（13）It is arranged on brush holder change Width push rod（6）Bottom, for monitoring brush holder luffing push rod（6）Extension elongation state；

The processor includes the input circuit being sequentially connected, Programmable Logic Controller and output circuit；

The performs device includes control brush holder lifting push rod（3）With brush holder luffing push rod（6）Processor, also including control hang down Straight-arm（1）Telescopic oil cylinder, hydraulic rotation motor, amplitude oil cylinder（5）And horizontal arm（2）The banked direction control valves of telescopic oil cylinder.